RosBridgeClientUWP cannot connect to ros2 rosbridge server

[cxiliu]

I found a bug!

• [x] I am using the latest ROS# version available here on the master branch.

• [x] I am adding all required information, code and data files, screenshots and log files so that you can reproduce the problem.

• My OS is: Windows 10

• My Unity Version is: 2020.3.25

• My ROS Distribution is: ROS2 foxy

• My Build Target Platform is: ARM/HoloLens2

Here is my bug description: I am using ros2 branch of the rosbridge server at https://github.com/RobotWebTools/rosbridge_suite. Ros-sharp library works perfectly with ros2 server from within the Unity editor (with small complaints on timestamp formatting https://github.com/siemens/ros-sharp/issues/315 but connection was not an issue). When I switch from Websocket Sharp/.NET to the UWP version to deploy it on HoloLens, connection cannot be established.

Perform the following steps to reproduce the bug: Build the demo unity project in ProjectSetup/RosSharpUnity (to either HoloLens1 or 2) and try to connect with the ros2 branch of rosbridge_websocket

Observed results: Connection cannot be established (no useful information in the log, see attached snippet UnityPlayer.log )

Expected results: Connection established, as it did in the Unity editor

Thanks!

[EricVoll]

Hi @cxiliu This looks like a serialization / code-stripping issue. I have no experience with ROS2 so far, so I can't really help out here. Maybe try to disable Code-Stripping from the IL2CPP backend as described here. If it works after code stripping was disabled, then its "only" a matter of finding the right dll to exclude from code-stripping.